- Initial commit
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linuxcnc
165
src/lcec.h
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165
src/lcec.h
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//
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// Copyright (C) 2011 Sascha Ittner <sascha.ittner@modusoft.de>
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//
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// This program is free software; you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation; either version 2 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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//
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#ifndef _LCEC_H_
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#define _LCEC_H_
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#include "lcnc_rtapi.h"
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#include "hal.h"
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#include "rtapi.h"
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#include "rtapi_ctype.h"
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#include "rtapi_app.h"
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#include "rtapi_string.h"
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#include "rtapi_math.h"
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#include "ecrt.h"
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#include "lcec_conf.h"
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// list macros
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#define LCEC_LIST_APPEND(first, last, item) \
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do { \
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(item)->prev = (last); \
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if ((item)->prev != NULL) { \
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(item)->prev->next = (item); \
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} else { \
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(first) = (item); \
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} \
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(last) = (item); \
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} while (0); \
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// pdo macros
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#define LCEC_PDO_INIT(pdo, pos, vid, pid, idx, sidx, off, bpos) \
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do { \
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pdo->position = pos; \
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pdo->vendor_id = vid; \
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pdo->product_code = pid; \
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pdo->index = idx; \
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pdo->subindex = sidx; \
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pdo->offset = off; \
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pdo->bit_position = bpos; \
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pdo++; \
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} while (0); \
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#define LCEC_MSG_PFX "LCEC: "
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// vendor ids
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#define LCEC_BECKHOFF_VID 0x00000002
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#define LCEC_STOEBER_VID 0x000000b9
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#define LCEC_DELTA_VID 0x000001dd
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// SDO request timeout (ms)
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#define LCEC_SDO_REQ_TIMEOUT 1000
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struct lcec_master;
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struct lcec_slave;
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typedef int (*lcec_slave_init_t) (int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs);
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typedef void (*lcec_slave_cleanup_t) (struct lcec_slave *slave);
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typedef void (*lcec_slave_rw_t) (struct lcec_slave *slave, long period);
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typedef struct lcec_master_data {
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hal_u32_t *slaves_responding;
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hal_bit_t *state_init;
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hal_bit_t *state_preop;
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hal_bit_t *state_safeop;
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hal_bit_t *state_op;
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hal_bit_t *link_up;
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hal_bit_t *all_op;
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} lcec_master_data_t;
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typedef struct lcec_slave_state {
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hal_bit_t *online;
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hal_bit_t *operational;
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hal_bit_t *state_init;
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hal_bit_t *state_preop;
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hal_bit_t *state_safeop;
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hal_bit_t *state_op;
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} lcec_slave_state_t;
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typedef struct lcec_master {
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struct lcec_master *prev;
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struct lcec_master *next;
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int index;
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char name[LCEC_CONF_STR_MAXLEN];
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ec_master_t *master;
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unsigned long mutex;
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int pdo_entry_count;
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ec_pdo_entry_reg_t *pdo_entry_regs;
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ec_domain_t *domain;
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uint8_t *process_data;
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int process_data_len;
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struct lcec_slave *first_slave;
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struct lcec_slave *last_slave;
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lcec_master_data_t *hal_data;
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uint64_t app_time;
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uint32_t app_time_period;
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int sync_ref_cnt;
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int sync_ref_cycles;
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} lcec_master_t;
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typedef struct {
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uint16_t assignActivate;
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uint32_t sync0Cycle;
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uint32_t sync0Shift;
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uint32_t sync1Cycle;
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uint32_t sync1Shift;
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} lcec_slave_dc_t;
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typedef struct {
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uint16_t divider;
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uint16_t intervals;
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} lcec_slave_watchdog_t;
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typedef struct {
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uint16_t index;
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int16_t subindex;
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size_t length;
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uint8_t data[];
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} lcec_slave_sdoconf_t;
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typedef struct lcec_slave {
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struct lcec_slave *prev;
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struct lcec_slave *next;
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struct lcec_master *master;
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int index;
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char name[LCEC_CONF_STR_MAXLEN];
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uint32_t vid;
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uint32_t pid;
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int pdo_entry_count;
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ec_sync_info_t *sync_info;
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ec_slave_config_t *config;
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ec_slave_config_state_t state;
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lcec_slave_dc_t *dc_conf;
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lcec_slave_watchdog_t *wd_conf;
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lcec_slave_init_t proc_init;
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lcec_slave_cleanup_t proc_cleanup;
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lcec_slave_rw_t proc_read;
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lcec_slave_rw_t proc_write;
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lcec_slave_state_t *hal_state_data;
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void *hal_data;
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ec_pdo_entry_info_t *generic_pdo_entries;
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ec_pdo_info_t *generic_pdos;
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ec_sync_info_t *generic_sync_managers;
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lcec_slave_sdoconf_t *sdo_config;
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} lcec_slave_t;
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ec_sdo_request_t *lcec_read_sdo(struct lcec_slave *slave, uint16_t index, uint8_t subindex, size_t size);
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#endif
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